Yes
Maiasaura did both to get away from predators
The Maiasaura.
Only for a minute or two. It's not their natural position.
Maiasaura died out 70 million years ago.
An adult maiasaura was typically nine metres (30 feet) long.
The Maiasaura lived about 75 million years ago in Montana. The name Maiasaura means Good Mother. They usually stayed in large nesting herds.
The plural form of the noun 'maiasaura' is maiasauras.Example: The remains of maiasauras have been found in Montana.
same reason we walk or run on two legs that's the way they were made
You must have two legs, from there you will run until you can't run anymore!
Hadrosaurs and Iguanodonts are both known to have walked on four legs. However, they could stand, walk, or run on two legs when it was useful.
Mother lizard.
Maiasaura peeblesorum